CN215853966U

CN215853966U - Tray unstacking system

Info

Publication number: CN215853966U
Application number: CN202121854211.3U
Authority: CN
Inventors: 屈伟忠; 陈永杰
Original assignee: Xi'an Gaohui Intelligent Technology Co ltd
Current assignee: Xi'an Gaohui Intelligent Technology Co ltd
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2022-02-18
Anticipated expiration: 2031-08-09

Abstract

The utility model discloses a tray unstacking system, which comprises: the device comprises a slide rail, a robot, a grabbing device, a tray rack and a roll-over stand; the robot is arranged on the slide rail and is connected with the slide rail in a sliding way; a pallet rack arranged at one side of the robot; the grabbing device is arranged on a mechanical arm of the robot; a camera is arranged on the mechanical arm close to the grabbing device; the roll-over stand is arranged on one side of one end of the slide rail, and a space for accommodating the grabbing device is arranged between the two ends of the roll-over stand. According to the utility model, the robot drives the grabbing device to work, so that stacked trays on the tray rack can be sequentially and singly placed on external conveying equipment, the purpose that the trays on the back side are automatically turned to the front side and placed on the conveying equipment is realized, the key problems that the trays are placed in a forward/reverse stacking mode and the direction from unstacking to placing the trays to the conveying equipment is in the forward direction in the automatic production process are solved, and the unstacking efficiency is greatly improved.

Description

Tray unstacking system

Technical Field

The utility model belongs to the technical field of automatic packaging lines, and particularly relates to a tray unstacking system.

Background

In modern industries, automation in the production process has become a prominent subject, the automation level of all industries is higher and higher, and modern processing workshops are often provided with automation equipment to improve production efficiency and complete work which is difficult to complete or dangerous for workers. In an automatic packaging line, the tray is an important container, serves as a bottom support for stacked goods, can play a role in moisture prevention and water prevention, and facilitates loading and unloading of a forklift in a subsequent transportation process. Based on the background of the demand, the automatic packaging line needs to firstly place the tray, then stack the goods for packaging and offline. The tray is normally positive and negative in turn put things in good order, all need openly up to place conveying equipment on, but, current system of breaking a jam can't accomplish automatically and place conveying equipment for the obverse side is upwards with the tray upset of reverse side up on, needs artifical supplementary, and work efficiency is lower.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problems in the prior art, the present invention provides a tray unstacking system. The technical problem to be solved by the utility model is realized by the following technical scheme:

a tray destacking system comprising: the device comprises a slide rail, a robot, a grabbing device, a tray rack and a roll-over stand;

the robot is arranged on the slide rail and is connected with the slide rail in a sliding manner;

the tray rack is arranged on one side of the robot;

the gripping device is arranged on a mechanical arm of the robot;

a camera is arranged on the mechanical arm close to the grabbing device;

the roll-over stand sets up one side of the one end of slide rail, has between the both ends to hold grabbing device's space.

In one embodiment of the present invention, the roll-over stand comprises: a first and a second sub-mount;

the first sub-bracket and the second sub-bracket are arranged at intervals.

In one embodiment of the utility model, the turnover frame comprises an underframe, a first placing arm and a second placing arm;

one end of the first placing arm is fixedly connected with one end of the underframe, and the other end of the first placing arm extends towards the robot direction;

one end of the second placing arm is fixedly connected with the other end of the underframe, and the other end of the second placing arm extends towards the robot direction;

the first placing arm and the second placing arm are parallel to each other.

In one embodiment of the utility model, the gripping device comprises a buffer bracket, a suction cup and a fan;

the buffer support comprises: the upper support frame, the lower support frame and the plurality of elastic buffer parts;

the upper support frame is rotatably connected with the outer end of the mechanical arm;

one end of the elastic buffer part is fixedly connected with the upper support frame, and the other end of the elastic buffer part is fixedly connected with the lower support frame;

the sucker is fixedly arranged on the lower support frame;

the fan is arranged on one side of the robot and communicated with the sucker through a ventilation pipe.

In one embodiment of the present invention, the suction cup comprises: at least one air bin and at least one conformable pad;

the long shaft of the gas bin is parallel to the long shaft of the external tray, and is fixedly connected with the lower support frame, and a plurality of air holes are formed in the surface back to the lower support frame;

the attaching pad is fixedly arranged on the surface of the air bin where the air holes are formed and is provided with a plurality of through holes.

In one embodiment of the utility model, the number of the air bins is two, and the number of the attaching pads is two;

the two gas bins are arranged in parallel.

In one embodiment of the present invention, the pallet rack includes: a placing frame and a photoelectric sensor assembly;

the photoelectric sensor assembly is arranged on the side wall of the placing frame and is close to the lower portion of the placing frame.

In one embodiment of the present invention, further comprising: a positioning device;

the positioning device comprises: the safety light curtain comprises a first guardrail, a second guardrail, a switch and a safety light curtain;

the first guardrail and the second guardrail are respectively positioned at two sides of the tray rack, and the safety light curtain is arranged on the first guardrail and the second guardrail;

the switch is arranged on the first guardrail or the second guardrail.

The utility model has the beneficial effects that:

according to the utility model, the robot drives the gripping device to work, so that stacked trays on the tray rack can be sequentially and singly placed on external conveying equipment, and when the front side of the tray faces upwards, the gripping device can directly grip the tray and place the tray on the conveying equipment. When the reverse side of the tray faces upwards, the grabbing device grabs the tray, the robot moves to the position near the turnover frame along the slide rail, the tray is placed on the turnover frame, then the grabbing device grabs the tray from the position below the tray between the two ends of the turnover frame, and the tray is placed on the conveying equipment after being overturned; or, gripping device snatchs the tray after, near the robot moves to the roll-over stand along the slide rail, place on the roll-over stand after the tray upset, then gripping device snatchs the tray from the roll-over stand top, directly place the tray on conveying equipment, consequently, realized that the tray of automatic upset reverse side is to the front to place on conveying equipment, solved automatic production in-process tray and just/reverse pile up and place, the key problem that the tray was forward is placed to conveying equipment to unstacking, the efficiency of unstacking has been improved by a wide margin.

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Drawings

FIG. 1 is a schematic structural diagram of a tray destacking system according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a roll-over stand provided by an embodiment of the utility model;

FIG. 3 is a schematic structural view of a roll-over stand according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of another roll-over stand provided by the embodiment of the utility model;

FIG. 5 is a schematic structural diagram of a grasping device according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a grasping device according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a grasping device according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a pallet stage and a positioning device provided in an embodiment of the present invention.

Description of reference numerals:

10-a slide rail; 20-a robot; 30-a gripping device; 31-a buffer support; 311-upper support frame; 312-lower support shelf; 313-an elastomeric buffer; 32-a suction cup; 321-gas cabin; 322-a conformable pad; 33-a fan; 40-a pallet rack; 41-placing a rack; 42-a photosensor assembly; 50-a roll-over stand; 51-a first sub-mount; 52-a second sub-mount; 53-undercarriage; 54-a first placing arm; 55-a second placing arm; 60-a camera; 70-a conveying device; 80-a first guardrail; 81-a second guardrail; 82-a switch; 83-safety light curtain; 90-tray.

Detailed Description

The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.

Example one

Referring to fig. 1, the present embodiment provides a tray unstacking system comprising: a slide 10, a robot 20, a gripper 30, a pallet rack 40 and a roll-over stand 50. The robot 20 is arranged on the slide rail 10, and the robot 20 is connected with the slide rail 10 in a sliding manner. The tray stage 40 is disposed at one side of the robot 20. The gripping device 30 is provided on a robot arm of the robot 20. The mechanical arm can drive the grabbing device 30 to move, rotate and the like. A camera 60 is provided on the arm adjacent to the gripper 30. The roll-over stand 50 is disposed at one side of one end of the slide rail 10, and a space for accommodating the catching device 30 is provided between both ends of the roll-over stand 50.

In this embodiment, when the robot 20 drives the grabbing device 30 to move to above the tray 90 to grab the tray 90, the camera 60 on the mechanical arm can shoot an image of the tray, when the front of the tray 90 faces upward, the grabbing device 30 grabs the tray 90 and then places the tray 90 on the conveying equipment 70 on one side under the drive of the robot 20, when the back of the tray 90 faces upward, after the grabbing device 30 grabs the tray 90 from above the tray 90, the robot 20 moves to near the roll-over stand 50 along the slide rail 10, the mechanical arm drives the grabbing device 30 to place the tray 90 on the roll-over stand 50, then the mechanical arm drives the grabbing device 30 to grab the tray 90 from below the tray 90 between two ends of the roll-over stand 50, and the tray 90 is taken away and turned over and then placed on the conveying equipment 70; or, when the reverse side of tray 90 is up, grabbing device 30 grabs tray 90 back, robot 20 moves to near roll-over stand 50 along slide rail 10, place tray 90 on roll-over stand 50 after overturning, then grabbing device 30 grabs tray 90 from roll-over stand 50 top, place tray 90 directly on conveying equipment 70 again, therefore, tray 90 to the front of automatic upset reverse side has been realized, and place on conveying equipment 70, it places to have solved automatic production in-process tray 90 and just/reverse pile up and place, it is forward key problem to unstack and place tray 90 to conveying equipment 70, the efficiency of unstacking has been improved substantially.

Wherein, the grabbing device 30 and a part of the mechanical arms can be accommodated between the two ends of the roll-over stand 50, so that the grabbing device 30 can move from the lower part of the roll-over stand 50 to the lower part of the tray 90 to grab the tray 90, or the grabbing device 30 needs to be accommodated between the two ends of the roll-over stand 50 when the tray 90 is placed after the tray 90 is overturned by the grabbing device 30. The camera 60 on the mechanical arm shoots the picture of the tray 90 and then sends the picture to the background controller center for image recognition, when the tray 90 in the recognized image is right side up, the background control center sends a work instruction to the robot 20, so that the mechanical arm of the robot 20 drives the gripping device 30 to place the tray 90 on the conveying equipment 70, and when the tray 90 in the recognized image is right side up, the background control center sends a work instruction to the robot 20 so that the robot 20 moves on the slide rail 10 to the vicinity of the roll-over stand 50 for corresponding subsequent operation of turning over the tray 90.

Wherein, the robot 20 is a six-axis robot, wherein the maximum working range is 3200mm, and the maximum load is 130 Kg.

In one possible implementation, as shown in fig. 2 and 3, the roll-over stand 50 includes: a first sub-mount 51 and a second sub-mount 52. The first and second sub-mounts 51 and 52 are spaced apart. The space between the first sub-frame 51 and the second sub-frame 52 can accommodate the gripping device 30 and a part of the robot arm, and the structure is simple and the cost is reduced.

In one possible implementation, the roll-over stand 50 may have other configurations, for example, as shown in FIG. 4, the roll-over stand 50 includes a base frame 53, a first resting arm 54, and a second resting arm 55. One end of the first placing arm 54 is fixedly connected to one end of the base frame 53, and the other end of the first placing arm 54 extends toward the robot 20.

One end of the second placing arm 55 is fixedly connected to the other end of the base frame 53, and the other end of the second placing arm 55 extends toward the robot 20. The first placing arm 54 and the second placing arm 55 are parallel to each other. The first placing arm 54 and the second placing arm 55 are located at two ends of the bottom frame 53, an interval is formed between the first placing arm 54 and the second placing arm 55, the roll-over stand 50 is stable and reliable in structure, and the grabbing device 30 is prevented from shaking in the process of placing the tray 90.

Further, as shown in fig. 5 and 6, the gripping device 30 includes a buffer bracket 31, a suction cup 32, and a blower 33. Buffer bracket 31, comprising: an upper support frame 311, a lower support frame 312, and a plurality of elastic buffers 313. The upper support frame 311 is rotatably connected with the outer end of the mechanical arm. The mechanical arm drives the upper support frame 311 to rotate and move, and further drives the grabbing device 30 to move. One end of the elastic buffer 313 is fixedly connected with the upper support 311, and the other end of the elastic buffer 313 is fixedly connected with the lower support 312. The suction cup 32 is fixedly disposed on the lower support 312. The suction cup 32 is used to suck the tray 90.

In this embodiment, the elastic buffer member 313 is located between the upper support frame 311 and the lower support frame 312, when grabbing the tray 90, the suction cup 32 is pressed on the tray 90, the lower support frame 312 receives the acting force of the suction cup 32 and the tray 90, the elastic buffer member 313 is compressed, the elastic buffer member 313 is elastically deformed, so that the acting force of the grabbing device 30 on the tray 90 can be buffered, the damage and the abrasion caused by the excessive stress of the tray 90 and the grabbing device 30 are avoided, the service life of the grabbing device 30 is prolonged, and the damage of the tray 90 is avoided. A fan 33 is provided on one side of the robot 20, and the fan 33 communicates with the suction cup 32 through a ventilation pipe. The fan 33 causes the suction cup 32 to generate a negative pressure to suck the tray 90 on the suction cup 32. The elastic buffer members 313 are sequentially disposed at intervals, and the elastic buffer members 313 may be springs. When it is desired to lower the tray 90 on the roll-over stand 50 or the conveying apparatus 70, the fan 33 is turned off and the tray 90 can be separated from the suction cups 32.

Further, as shown in fig. 6 and 7, the suction cup 32 includes: at least one air pocket 321 and at least one conformable pad 322. The long axis of the air chamber 321 is parallel to the long axis of the external tray 90, the air chamber 321 is fixedly connected with the lower support 312, and a plurality of air holes are formed on the surface of the air chamber 321 back to the lower support 312. The bonding pad 322 is fixed on the surface of the air chamber 321 where the air holes are located, and a plurality of through holes are formed on the bonding pad 322.

In this embodiment, the blower 33 extracts the gas in the gas bin 321 to generate negative pressure, the attaching pad 322 is attached to the tray 90, the suction cup 32 sucks the tray 90 tightly under the action of the negative pressure, and then the mechanical arm drives the gripping device 30 to move to place the tray 90. The air box 321 has a polygonal prism shape, for example, a rectangular parallelepiped shape, and the long axis of the air box 321 is long, so that the contact area with the tray 90 is large, and the large tray 90 can be reliably sucked. The attaching pad 322 is made of a flexible material and has a plurality of through holes for ventilation, and the attaching pad 322 can enable the tray 90 with uneven surface to be in good contact with the suction cup 32, so that the stability of the suction tray 90 is further improved.

Further, as shown in fig. 7, the number of air pockets 321 is two, and the number of bonding pads 322 is two. The two air bins 321 are arranged parallel to each other.

Further, as shown in fig. 8, the pallet stage 40 includes: a mounting frame 41 and a photosensor assembly 42. The photosensor assembly 42 is disposed on a side wall of the placement frame 41, and is close to a lower portion of the placement frame 41. The palletized pallet is placed on the pallet table 40, and the robot 20 drives the gripping device 30 to move to suck the pallet from the placing frame 41. In this embodiment, when the number of the trays is small, the height of the stacked trays is reduced, at this time, the light path of the photoelectric sensor component 42 is turned on, and the photoelectric sensor component 42 may send a signal to the background control center to prompt that the trays need to be replenished.

In a feasible implementation manner, the photoelectric sensor assembly 42 may include a transmitting end and a receiving end, the transmitting end and the receiving end are relatively disposed at the lower portion of the placing frame 41, when the height of the tray is high, the transmitting end and the receiving end are shielded by the tray, when the height of the tray is reduced, the transmitting end and the receiving end are not shielded by the tray, the light path is conducted, and a corresponding signal is sent to the background control center.

Further, as shown in fig. 8, a tray destacking system further comprises: and a positioning device. The positioning device includes: a first guard rail 80, a second guard rail 81, a switch 82 and a safety light curtain 83. The first guard rail 80 and the second guard rail 81 are respectively located at both sides of the tray stage 40, and the safety light curtain 83 is provided on the first guard rail 80 and the second guard rail 81. The switch 82 is provided on the first guard rail 80 or the second guard rail 81.

In this embodiment, when the forklift needs to replenish the tray on the tray rack 40, the mounting light curtain is closed by manually operating the switch 82, and meanwhile, the robot 20 receives a signal of stopping the operation, the forklift can load the material on the tray rack 40, after the loading is completed, the safety light curtain 83 is opened by operating the switch 82, and meanwhile, the robot 20 receives a signal of starting the operation, and the robot 20 starts to grab the tray.

In this embodiment, when the number of the trays is small, the height of the stacked trays is reduced, at this time, the light path of the photoelectric sensor component 42 is turned on, and the photoelectric sensor component 42 may send a signal to the background control center to prompt that the trays need to be replenished. When the forklift enters the working area, the switch 82 is manually operated, the installation light curtain is closed, meanwhile, the robot 20 receives a signal of stopping the action, the forklift can load materials on the tray rack 40, after the loading is finished, the safety light curtain 83 is opened by the switch 82, meanwhile, the robot 20 receives a signal of starting the work, and the robot 20 starts to grab the tray.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

The foregoing is a more detailed description of the utility model in connection with specific preferred embodiments and it is not intended that the utility model be limited to these specific details. For those skilled in the art to which the utility model pertains, several simple deductions or substitutions can be made without departing from the spirit of the utility model, and all shall be considered as belonging to the protection scope of the utility model.

Claims

1. A tray destacking system, comprising: the automatic pallet loading device comprises a slide rail (10), a robot (20), a gripping device (30), a pallet rack (40) and a roll-over stand (50);

the robot (20) is arranged on the slide rail (10) and is connected with the slide rail (10) in a sliding manner;

the tray table (40) is arranged on one side of the robot (20);

the gripping device (30) is arranged on a mechanical arm of the robot (20);

a camera (60) is arranged on the mechanical arm at a position close to the gripping device (30);

the overturning frame (50) is arranged on one side of one end of the sliding rail (10), and a space for accommodating the grabbing device (30) is formed between the two ends.

2. A tray unstacking system as claimed in claim 1 wherein the roll-over carriage (50) comprises: a first sub-mount (51) and a second sub-mount (52);

the first sub-bracket (51) and the second sub-bracket (52) are arranged at intervals.

3. A tray destacking system as claimed in claim 1 wherein the turner (50) comprises a base frame (53), a first placing arm (54) and a second placing arm (55);

the first placing arm (54) is fixedly connected with one end of the underframe (53) at one end, and the other end extends towards the direction of the robot (20);

one end of the second placing arm (55) is fixedly connected with the other end of the underframe (53), and the other end of the second placing arm extends towards the direction of the robot (20);

the first placing arm (54) and the second placing arm (55) are parallel to each other.

4. A tray destacking system as claimed in claim 2 or 3, wherein the gripping device (30) comprises a buffer support (31), a suction cup (32) and a fan (33);

the buffer support (31) comprises: an upper support frame (311), a lower support frame (312) and a plurality of elastic buffers (313);

the upper support frame (311) is rotatably connected with the outer end of the mechanical arm;

one end of the elastic buffer piece (313) is fixedly connected with the upper support frame (311), and the other end of the elastic buffer piece is fixedly connected with the lower support frame (312);

the sucker (32) is fixedly arranged on the lower support frame (312);

the fan (33) is arranged on one side of the robot (20) and is communicated with the suction disc (32) through a ventilation pipe.

5. A tray destacking system as claimed in claim 4, wherein the suction cups (32) comprise: at least one air pocket (321) and at least one conformable pad (322);

the long axis of the air bin (321) is parallel to the long axis of the external tray, and is fixedly connected with the lower support frame (312), and a plurality of air holes are formed in the surface back to the lower support frame (312);

the attaching pad (322) is fixedly arranged on the surface of the air bin (321) where the air holes are formed, and is provided with a plurality of through holes.

6. A tray destacking system as claimed in claim 5, wherein the number of air bins (321) is two and the number of pads (322) is two;

the two air bins (321) are arranged in parallel.

7. A tray destacking system as claimed in claim 1, wherein the tray table (40) comprises: a placement frame (41) and a photosensor assembly (42);

the photoelectric sensor assembly (42) is arranged on the side wall of the placing frame (41) and is close to the lower portion of the placing frame (41).

8. The tray destacking system as recited in claim 1 further comprising: a positioning device;

the positioning device comprises: a first guardrail (80), a second guardrail (81), a switch (82) and a safety light curtain (83);

the first guardrail (80) and the second guardrail (81) are respectively positioned at two sides of the tray rack (40), and the safety light curtain (83) is arranged on the first guardrail (80) and the second guardrail (81);

the switch (82) is arranged on the first guardrail (80) or the second guardrail (81).